語系:
繁體中文
English
說明(常見問題)
回圖書館首頁
手機版館藏查詢
登入
回首頁
切換:
標籤
|
MARC模式
|
ISBD
A Novel Design of a Cable-driven Act...
~
Jin, Xin.
FindBook
Google Book
Amazon
博客來
A Novel Design of a Cable-driven Active Leg Exoskeleton (C-ALEX) and Gait Training with Human Subjects.
紀錄類型:
書目-電子資源 : Monograph/item
正題名/作者:
A Novel Design of a Cable-driven Active Leg Exoskeleton (C-ALEX) and Gait Training with Human Subjects./
作者:
Jin, Xin.
出版者:
Ann Arbor : ProQuest Dissertations & Theses, : 2018,
面頁冊數:
96 p.
附註:
Source: Dissertations Abstracts International, Volume: 79-09, Section: B.
Contained By:
Dissertations Abstracts International79-09B.
標題:
Biomedical engineering. -
電子資源:
http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10690204
ISBN:
9780355615449
A Novel Design of a Cable-driven Active Leg Exoskeleton (C-ALEX) and Gait Training with Human Subjects.
Jin, Xin.
A Novel Design of a Cable-driven Active Leg Exoskeleton (C-ALEX) and Gait Training with Human Subjects.
- Ann Arbor : ProQuest Dissertations & Theses, 2018 - 96 p.
Source: Dissertations Abstracts International, Volume: 79-09, Section: B.
Thesis (Ph.D.)--Columbia University, 2018.
This item is not available from ProQuest Dissertations & Theses.
Exoskeletons for gait training commonly use a rigid-linked "skeleton" which makes them heavy and bulky. Cable-driven exoskeletons eliminate the rigid-linked skeleton structure, therefore creating a lighter and more transparent design. Current cable-driven leg exoskeletons are limited to gait assistance use. This thesis presented the Cable-driven Active Leg Exoskeleton (C-ALEX) designed for gait retraining and rehabilitation. Benefited from the cable-driven design, C-ALEX has minimal weight and inertia (4.7 kg) and allows all the degrees-of-freedom (DoF) of the leg of the user. C-ALEX uses an assist-as-needed (AAN) controller to train the user to walk in a new gait pattern. A preliminary design of C-ALEX was first presented, and an experiment was done with this preliminary design to study the effectiveness of the AAN controller. The result on six healthy subjects showed that the subjects were able to follow a new gait pattern significantly more accurately with the help of the AAN controller. After this experiment, C-ALEX was redesigned to improve its functionality. The improved design of C-ALEX is lighter, has more DoFs and larger range-of-motion. The controller of the improved design improved the continuity of the generated cable tensions and added the function to estimate the phase of the gait of the user in real-time. With the improved design of C-ALEX, an experiment was performed to study the effect of the weight and inertia of an exoskeleton on the gait of the user. C-ALEX was used to simulate exoskeletons with different levels of weight and inertia by adding extra mass and change the weight compensation level. The result on ten subjects showed that adding extra mass increased step length and reduced knee flexion. Compensating the weight of the mass partially restored the knee flexion but not the step length, implying that the inertia of the mass is responsible for the change. This study showed the distinctive effect of weight and inertia on gait and demonstrated the benefit of a lightweight exoskeleton. C-ALEX was designed for gait training and rehabilitation, and its training effectiveness was studied in nine healthy subjects and a stroke patient. The healthy subjects trained with C-ALEX to walk in a new gait pattern with 30% increase in step height for 40 min. After the training, the subjects were able to closely repeat the trained gait pattern without C-ALEX, and the step height of the subjects increased significantly. A stroke patient also tested C-ALEX for 40 minutes and showed short-term improvements in step length, step height, and knee flexion after training. The result showed the effectiveness of C-ALEX in gait training and its potential to be used in stroke rehabilitation.
ISBN: 9780355615449Subjects--Topical Terms:
535387
Biomedical engineering.
A Novel Design of a Cable-driven Active Leg Exoskeleton (C-ALEX) and Gait Training with Human Subjects.
LDR
:03939nmm a2200349 4500
001
2208949
005
20191025102619.5
008
201008s2018 ||||||||||||||||| ||eng d
020
$a
9780355615449
035
$a
(MiAaPQ)AAI10690204
035
$a
(MiAaPQ)columbia:14378
035
$a
AAI10690204
040
$a
MiAaPQ
$c
MiAaPQ
100
1
$a
Jin, Xin.
$3
3178384
245
1 0
$a
A Novel Design of a Cable-driven Active Leg Exoskeleton (C-ALEX) and Gait Training with Human Subjects.
260
1
$a
Ann Arbor :
$b
ProQuest Dissertations & Theses,
$c
2018
300
$a
96 p.
500
$a
Source: Dissertations Abstracts International, Volume: 79-09, Section: B.
500
$a
Publisher info.: Dissertation/Thesis.
500
$a
Advisor: Agrawal, Sunil.
502
$a
Thesis (Ph.D.)--Columbia University, 2018.
506
$a
This item is not available from ProQuest Dissertations & Theses.
506
$a
This item must not be sold to any third party vendors.
520
$a
Exoskeletons for gait training commonly use a rigid-linked "skeleton" which makes them heavy and bulky. Cable-driven exoskeletons eliminate the rigid-linked skeleton structure, therefore creating a lighter and more transparent design. Current cable-driven leg exoskeletons are limited to gait assistance use. This thesis presented the Cable-driven Active Leg Exoskeleton (C-ALEX) designed for gait retraining and rehabilitation. Benefited from the cable-driven design, C-ALEX has minimal weight and inertia (4.7 kg) and allows all the degrees-of-freedom (DoF) of the leg of the user. C-ALEX uses an assist-as-needed (AAN) controller to train the user to walk in a new gait pattern. A preliminary design of C-ALEX was first presented, and an experiment was done with this preliminary design to study the effectiveness of the AAN controller. The result on six healthy subjects showed that the subjects were able to follow a new gait pattern significantly more accurately with the help of the AAN controller. After this experiment, C-ALEX was redesigned to improve its functionality. The improved design of C-ALEX is lighter, has more DoFs and larger range-of-motion. The controller of the improved design improved the continuity of the generated cable tensions and added the function to estimate the phase of the gait of the user in real-time. With the improved design of C-ALEX, an experiment was performed to study the effect of the weight and inertia of an exoskeleton on the gait of the user. C-ALEX was used to simulate exoskeletons with different levels of weight and inertia by adding extra mass and change the weight compensation level. The result on ten subjects showed that adding extra mass increased step length and reduced knee flexion. Compensating the weight of the mass partially restored the knee flexion but not the step length, implying that the inertia of the mass is responsible for the change. This study showed the distinctive effect of weight and inertia on gait and demonstrated the benefit of a lightweight exoskeleton. C-ALEX was designed for gait training and rehabilitation, and its training effectiveness was studied in nine healthy subjects and a stroke patient. The healthy subjects trained with C-ALEX to walk in a new gait pattern with 30% increase in step height for 40 min. After the training, the subjects were able to closely repeat the trained gait pattern without C-ALEX, and the step height of the subjects increased significantly. A stroke patient also tested C-ALEX for 40 minutes and showed short-term improvements in step length, step height, and knee flexion after training. The result showed the effectiveness of C-ALEX in gait training and its potential to be used in stroke rehabilitation.
590
$a
School code: 0054.
650
4
$a
Biomedical engineering.
$3
535387
650
4
$a
Mechanical engineering.
$3
649730
650
4
$a
Robotics.
$3
519753
690
$a
0541
690
$a
0548
690
$a
0771
710
2
$a
Columbia University.
$b
Mechanical Engineering.
$3
1684265
773
0
$t
Dissertations Abstracts International
$g
79-09B.
790
$a
0054
791
$a
Ph.D.
792
$a
2018
793
$a
English
856
4 0
$u
http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10690204
筆 0 讀者評論
館藏地:
全部
電子資源
出版年:
卷號:
館藏
1 筆 • 頁數 1 •
1
條碼號
典藏地名稱
館藏流通類別
資料類型
索書號
使用類型
借閱狀態
預約狀態
備註欄
附件
W9385498
電子資源
11.線上閱覽_V
電子書
EB
一般使用(Normal)
在架
0
1 筆 • 頁數 1 •
1
多媒體
評論
新增評論
分享你的心得
Export
取書館
處理中
...
變更密碼
登入